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   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<div class="header">
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<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
<a href="class_d_bo_w2_1_1_f_o_r_b-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">DBoW2::FORB Class Reference</div>  </div>
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<p>Functions to manipulate ORB descriptors.  
 <a href="class_d_bo_w2_1_1_f_o_r_b.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_f_o_r_b_8h_source.html">FORB.h</a>&gt;</code></p>
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Inheritance diagram for DBoW2::FORB:</div>
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Collaboration diagram for DBoW2::FORB:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:ab52a6568044027cf30c8ac1514fed1a6"><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#ab52a6568044027cf30c8ac1514fed1a6">pDescriptor</a></td></tr>
<tr class="memdesc:ab52a6568044027cf30c8ac1514fed1a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to a single descriptor.  <a href="#ab52a6568044027cf30c8ac1514fed1a6">More...</a><br /></td></tr>
<tr class="separator:ab52a6568044027cf30c8ac1514fed1a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef9b966d0293836fab9f55f1799ce0ed"><td class="memItemLeft" align="right" valign="top">typedef cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a></td></tr>
<tr class="memdesc:aef9b966d0293836fab9f55f1799ce0ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Descriptor type.  <a href="#aef9b966d0293836fab9f55f1799ce0ed">More...</a><br /></td></tr>
<tr class="separator:aef9b966d0293836fab9f55f1799ce0ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ac166ab6808abc7c385dbaabfacfed38c"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#ac166ab6808abc7c385dbaabfacfed38c">distance</a> (const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;a, const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;b)</td></tr>
<tr class="memdesc:ac166ab6808abc7c385dbaabfacfed38c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the distance between two descriptors.  <a href="#ac166ab6808abc7c385dbaabfacfed38c">More...</a><br /></td></tr>
<tr class="separator:ac166ab6808abc7c385dbaabfacfed38c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa1b3415e0289849d56bffd0205be4d8"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#afa1b3415e0289849d56bffd0205be4d8">fromArray</a> (<a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;a, unsigned char *p)</td></tr>
<tr class="memdesc:afa1b3415e0289849d56bffd0205be4d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Devuelve un descriptor a partir de sus datos binarios en un array.  <a href="#afa1b3415e0289849d56bffd0205be4d8">More...</a><br /></td></tr>
<tr class="separator:afa1b3415e0289849d56bffd0205be4d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4023e7775d0691b44f6708f865b6b8d7"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#a4023e7775d0691b44f6708f865b6b8d7">fromString</a> (<a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;a, const std::string &amp;s)</td></tr>
<tr class="memdesc:a4023e7775d0691b44f6708f865b6b8d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a descriptor from a string.  <a href="#a4023e7775d0691b44f6708f865b6b8d7">More...</a><br /></td></tr>
<tr class="separator:a4023e7775d0691b44f6708f865b6b8d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d78adf3c5c6fe8f2e8668e247acf5cc"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#a9d78adf3c5c6fe8f2e8668e247acf5cc">meanValue</a> (const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_class.html#a9c94e662003f61413fd542d67b45c3a9">pDescriptor</a> &gt; &amp;descriptors, <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;mean)</td></tr>
<tr class="memdesc:a9d78adf3c5c6fe8f2e8668e247acf5cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the mean value of a set of descriptors.  <a href="#a9d78adf3c5c6fe8f2e8668e247acf5cc">More...</a><br /></td></tr>
<tr class="separator:a9d78adf3c5c6fe8f2e8668e247acf5cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67b90eaed01dd54e380237c78886635f"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#a67b90eaed01dd54e380237c78886635f">toMat32F</a> (const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &gt; &amp;descriptors, cv::Mat &amp;mat)</td></tr>
<tr class="memdesc:a67b90eaed01dd54e380237c78886635f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a mat with the descriptors in float format.  <a href="#a67b90eaed01dd54e380237c78886635f">More...</a><br /></td></tr>
<tr class="separator:a67b90eaed01dd54e380237c78886635f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0a9e2ea44336f2975a7f3324777330c"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#af0a9e2ea44336f2975a7f3324777330c">toMat8U</a> (const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &gt; &amp;descriptors, cv::Mat &amp;mat)</td></tr>
<tr class="separator:af0a9e2ea44336f2975a7f3324777330c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c0ce0fd04ecd52b25b97d253fb922ea"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#a3c0ce0fd04ecd52b25b97d253fb922ea">toString</a> (const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;a)</td></tr>
<tr class="memdesc:a3c0ce0fd04ecd52b25b97d253fb922ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a string version of the descriptor.  <a href="#a3c0ce0fd04ecd52b25b97d253fb922ea">More...</a><br /></td></tr>
<tr class="separator:a3c0ce0fd04ecd52b25b97d253fb922ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:ad6ed07af4e042effc3c0b169aa5bdd1a"><td class="memItemLeft" align="right" valign="top">static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#ad6ed07af4e042effc3c0b169aa5bdd1a">L</a> =32</td></tr>
<tr class="memdesc:ad6ed07af4e042effc3c0b169aa5bdd1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Descriptor length (in bytes)  <a href="#ad6ed07af4e042effc3c0b169aa5bdd1a">More...</a><br /></td></tr>
<tr class="separator:ad6ed07af4e042effc3c0b169aa5bdd1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Functions to manipulate ORB descriptors. </p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
<a id="ab52a6568044027cf30c8ac1514fed1a6"></a>
<div class="memitem">
<div class="memproto">
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        <tr>
          <td class="memname">typedef const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a>* <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#ab52a6568044027cf30c8ac1514fed1a6">DBoW2::FORB::pDescriptor</a></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Pointer to a single descriptor. </p>

</div>
</div>
<a id="aef9b966d0293836fab9f55f1799ce0ed"></a>
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<div class="memproto">
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          <td class="memname">typedef cv::Mat <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">DBoW2::FORB::TDescriptor</a></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Descriptor type. </p>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="ac166ab6808abc7c385dbaabfacfed38c"></a>
<div class="memitem">
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  <td class="mlabels-left">
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          <td class="memname">int DBoW2::FORB::distance </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;&#160;</td>
          <td class="paramname"><em>a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;&#160;</td>
          <td class="paramname"><em>b</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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<p>Calculates the distance between two descriptors. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">a</td><td></td></tr>
    <tr><td class="paramname">b</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>distance </dd></dl>

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          <td class="memname">void DBoW2::FORB::fromArray </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">FORB::TDescriptor</a> &amp;&#160;</td>
          <td class="paramname"><em>a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char *&#160;</td>
          <td class="paramname"><em>p</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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<p>Devuelve un descriptor a partir de sus datos binarios en un array. </p>
<p>Esta función fue inspirada en fromString. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">a</td><td>descriptor </td></tr>
    <tr><td class="paramname">buffer</td><td>array con el descriptor </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a4023e7775d0691b44f6708f865b6b8d7"></a>
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          <td class="memname">void DBoW2::FORB::fromString </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">FORB::TDescriptor</a> &amp;&#160;</td>
          <td class="paramname"><em>a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>s</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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<p>Returns a descriptor from a string. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">a</td><td>descriptor </td></tr>
    <tr><td class="paramname">s</td><td>string version </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a9d78adf3c5c6fe8f2e8668e247acf5cc"></a>
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          <td class="memname">void DBoW2::FORB::meanValue </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_class.html#a9c94e662003f61413fd542d67b45c3a9">pDescriptor</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>descriptors</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &amp;&#160;</td>
          <td class="paramname"><em>mean</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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      </table>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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<p>Calculates the mean value of a set of descriptors. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">descriptors</td><td></td></tr>
    <tr><td class="paramname">mean</td><td>mean descriptor </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a id="a67b90eaed01dd54e380237c78886635f"></a>
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          <td class="memname">void DBoW2::FORB::toMat32F </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>descriptors</em>, </td>
        </tr>
        <tr>
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<p>Returns a mat with the descriptors in float format. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">descriptors</td><td></td></tr>
    <tr><td class="paramname">mat</td><td>(out) NxL 32F matrix </td></tr>
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          <td class="memname">void DBoW2::FORB::toMat8U </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="class_d_bo_w2_1_1_f_o_r_b.html#aef9b966d0293836fab9f55f1799ce0ed">TDescriptor</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>descriptors</em>, </td>
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          <td class="paramname"><em>mat</em>&#160;</td>
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          <td class="paramname"><em>a</em></td><td>)</td>
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<p>Returns a string version of the descriptor. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">a</td><td>descriptor </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>string version </dd></dl>

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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Descriptor length (in bytes) </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/DBoW2/DBoW2/<a class="el" href="_f_o_r_b_8h_source.html">FORB.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/DBoW2/DBoW2/<a class="el" href="_f_o_r_b_8cpp.html">FORB.cpp</a></li>
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